这么看，太麻烦，而且跑题了；现在成研究cmake了。
cmake、make这些明白就好了，没有必要纠着不放。
分析cmake/make这块的原因是确定编译时需要看哪些文件～
现在的思路是：
cmake 生成makemake -e NO_NINJA_BUILD=TRUE，不让用NINJA否则还得去看ninja，更麻烦，直接用make，生成Makefile。
编译命令是：make -e NO_NINJA_BUILD=TRUE px4_fmu-v2_multicopter，在build目录下生成了px4_fmu-v2_multicopter目录，该目录下有个Makefile，该文件默认target就是all，直接敲命令make即可完成编译，看一下默认target的内容:
104 all: cmake_check_build_system
105 $(CMAKE_COMMAND) -E cmake_progress_start /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/CMakeFiles /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/CMakeFiles/progress.marks
106 $(MAKE) -f CMakeFiles/Makefile2 all
107 $(CMAKE_COMMAND) -E cmake_progress_start /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/CMakeFiles 0
108 .PHONY : all
直接调CMakeFiles/Makefile2 all
看一下CMakeFiles/Makefile2的内容：
52 #=============================================================================
53 # Directory level rules for the build root directory
54
55 # The main recursive "all" target.
56 all: platforms/nuttx/src/px4/all
57 all: src/drivers/adc/board_adc/all
58 all: src/drivers/barometer/ms5611/all
59 all: src/drivers/distance_sensor/lightware_laser_i2c/all
60 all: src/drivers/gps/all
61 all: src/drivers/imu/invensense/mpu6000/all
62 all: src/drivers/imu/l3gd20/all
63 all: src/drivers/imu/lsm303d/all
64 all: src/drivers/lights/rgbled/all
65 all: src/drivers/magnetometer/hmc5883/all
66 all: src/drivers/pwm_out/all
67 all: src/drivers/px4io/all
68 all: src/drivers/tone_alarm/all
69 all: src/modules/battery_status/all
70 all: src/modules/commander/all
71 all: src/modules/control_allocator/all
72 all: src/modules/dataman/all
73 all: src/modules/ekf2/all
74 all: src/modules/flight_mode_manager/all
75 all: src/modules/land_detector/all
76 all: src/modules/logger/all
77 all: src/modules/manual_control/all
78 all: src/modules/mavlink/all
79 all: src/modules/mc_att_control/all
80 all: src/modules/mc_hover_thrust_estimator/all
81 all: src/modules/mc_pos_control/all
82 all: src/modules/mc_rate_control/all
83 all: src/modules/navigator/all
84 all: src/modules/rc_update/all
85 all: src/modules/sensors/all
86 all: src/systemcmds/hardfault_log/all
87 all: src/systemcmds/mft/all
88 all: src/systemcmds/mtd/all
89 all: src/systemcmds/param/all
90 all: src/systemcmds/reboot/all
91 all: src/systemcmds/tune_control/all
92 all: src/systemcmds/ver/all
93 all: boards/px4/fmu-v2/src/all
94 all: platforms/nuttx/all
95
96 .PHONY : all
好，这下很清楚了。
把编译记录保存一下，方便后续比对：
root@zhangsong-ThinkPad-W541:/src/PX4-Autopilot/build/px4_fmu-v2_multicopter# make
[ 0%] Generating ../../../platforms/nuttx/NuttX/nuttx/.config
[ 0%] Generating ../../../platforms/nuttx/NuttX/nuttx/include/nuttx/config.h, ../../../platforms/nuttx/NuttX/nuttx/include/arch/chip
[ 0%] Built target nuttx_context
[ 0%] Generating nuttx/libs/libc/libc.a
[ 0%] Built target nuttx_c_build
[ 0%] Generating uORB topic headers
[ 0%] Built target uorb_headers
[ 0%] Generating Flight Tasks
[ 0%] Built target flighttasks_generated
[ 0%] Generating combined event json file
[ 1%] Generating px4 event header file
[ 1%] Built target events_header
Scanning dependencies of target perf
[ 2%] Building CXX object src/lib/perf/CMakeFiles/perf.dir/perf_counter.cpp.obj
[ 2%] Linking CXX static library libperf.a
[ 2%] Built target perf
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[ 2%] Building CXX object src/lib/parameters/tinybson/CMakeFiles/tinybson.dir/tinybson.cpp.obj
[ 2%] Linking CXX static library libtinybson.a
[ 2%] Built target tinybson
[ 2%] Generating nuttx/mm/libmm.a
[ 2%] Built target nuttx_mm_build
[ 2%] Generating nuttx/drivers/libdrivers.a
[ 2%] Built target nuttx_drivers_build
[ 2%] Generating nuttx/sched/libsched.a
[ 2%] Built target nuttx_sched_build
[ 2%] Generating nuttx/fs/libfs.a
[ 3%] Built target nuttx_fs_build
[ 3%] Generating nuttx/arch/arm/src/libarch.a
[ 3%] Built target nuttx_arch_build
[ 3%] Generating nuttx/libs/libxx/libxx.a
[ 4%] Built target nuttx_xx_build
Scanning dependencies of target flashparams
[ 5%] Building C object src/lib/parameters/flashparams/CMakeFiles/flashparams.dir/flashfs.c.obj
[ 5%] Building CXX object src/lib/parameters/flashparams/CMakeFiles/flashparams.dir/flashparams.cpp.obj
[ 5%] Linking CXX static library libflashparams.a
[ 5%] Built target flashparams
[ 5%] Generating serial_params.c
[ 5%] Generating parameters.xml
[ 5%] Generating px4_parameters.hpp
Scanning dependencies of target parameters
[ 5%] Building CXX object src/lib/parameters/CMakeFiles/parameters.dir/parameters.cpp.obj
[ 5%] Building CXX object src/lib/parameters/CMakeFiles/parameters.dir/param_translation.cpp.obj
[ 5%] Linking CXX static library libparameters.a
[ 5%] Built target parameters
Scanning dependencies of target drivers_board
[ 5%] Building C object boards/px4/fmu-v2/src/CMakeFiles/drivers_board.dir/can.c.obj
[ 5%] Building CXX object boards/px4/fmu-v2/src/CMakeFiles/drivers_board.dir/i2c.cpp.obj
[ 5%] Building C object boards/px4/fmu-v2/src/CMakeFiles/drivers_board.dir/init.c.obj
[ 5%] Building C object boards/px4/fmu-v2/src/CMakeFiles/drivers_board.dir/led.c.obj
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[ 5%] Building CXX object boards/px4/fmu-v2/src/CMakeFiles/drivers_board.dir/timer_config.cpp.obj
[ 5%] Building C object boards/px4/fmu-v2/src/CMakeFiles/drivers_board.dir/usb.c.obj
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[ 6%] Built target drivers_board
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[ 6%] Building CXX object platforms/common/px4_work_queue/CMakeFiles/px4_work_queue.dir/ScheduledWorkItem.cpp.obj
[ 6%] Building CXX object platforms/common/px4_work_queue/CMakeFiles/px4_work_queue.dir/WorkItem.cpp.obj
[ 6%] Building CXX object platforms/common/px4_work_queue/CMakeFiles/px4_work_queue.dir/WorkItemSingleShot.cpp.obj
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[ 6%] Linking CXX static library libpx4_work_queue.a
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[ 6%] Building C object platforms/common/CMakeFiles/px4_platform.dir/board_common.c.obj
[ 6%] Building C object platforms/common/CMakeFiles/px4_platform.dir/board_identity.c.obj
[ 6%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/events.cpp.obj
[ 6%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/external_reset_lockout.cpp.obj
[ 7%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/i2c.cpp.obj
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[ 7%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/module.cpp.obj
[ 7%] Building C object platforms/common/CMakeFiles/px4_platform.dir/px4_getopt.c.obj
[ 7%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/px4_cli.cpp.obj
[ 7%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/shutdown.cpp.obj
[ 7%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/spi.cpp.obj
[ 7%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/px4_log.cpp.obj
[ 8%] Building CXX object platforms/common/CMakeFiles/px4_platform.dir/px4_log_history.cpp.obj
[ 8%] Linking CXX static library libpx4_platform.a
[ 8%] Built target px4_platform
Scanning dependencies of target arch_version
[ 9%] Building C object platforms/nuttx/src/px4/stm/stm32f4/version/CMakeFiles/arch_version.dir/board_identity.c.obj
[ 9%] Building C object platforms/nuttx/src/px4/stm/stm32f4/version/CMakeFiles/arch_version.dir/board_mcu_version.c.obj
[ 9%] Linking C static library libarch_version.a
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[ 9%] Building CXX object platforms/nuttx/src/px4/stm/stm32f4/spi/CMakeFiles/arch_spi.dir/spi.cpp.obj
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[ 9%] Building C object platforms/nuttx/src/px4/stm/stm32f4/hrt/CMakeFiles/arch_hrt.dir/hrt.c.obj
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[ 10%] Building C object platforms/nuttx/src/px4/stm/stm32f4/board_critmon/CMakeFiles/arch_board_critmon.dir/board_critmon.c.obj
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[ 11%] Building C object platforms/nuttx/src/px4/common/CMakeFiles/px4_layer.dir/board_crashdump.c.obj
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[ 13%] Building CXX object platforms/nuttx/src/px4/common/CMakeFiles/px4_layer.dir/px4_init.cpp.obj
[ 13%] Building CXX object platforms/nuttx/src/px4/common/CMakeFiles/px4_layer.dir/px4_manifest.cpp.obj
[ 13%] Building CXX object platforms/nuttx/src/px4/common/CMakeFiles/px4_layer.dir/px4_mtd.cpp.obj
[ 13%] Building C object platforms/nuttx/src/px4/common/CMakeFiles/px4_layer.dir/px4_24xxxx_mtd.c.obj
[ 14%] Building CXX object platforms/nuttx/src/px4/common/CMakeFiles/px4_layer.dir/px4_crypto.cpp.obj
[ 14%] Linking CXX static library libpx4_layer.a
[ 14%] Built target px4_layer
[ 14%] Built target parameters_xml
[ 14%] Generating git version header
[ 14%] Built target ver_gen
[ 14%] Generating px4 event json file from source
[ 14%] Generating combined event json file
[ 14%] Built target events_json
[ 14%] Generating actuators.json
[ 14%] Built target actuators_json
[ 14%] Generating component_general.json and checksums.h
[ 14%] Built target component_general_json
[ 15%] Generating ../romfs_files.tar
[ 15%] ROMFS: copying, generating airframes
[ 15%] ROMFS: copying /src/PX4-Autopilot/boards/px4/fmu-v2/extras/px4_io-v2_default.bin
[ 15%] ROMFS: copying rc.board_arch_defaults
[ 15%] ROMFS: copying rc.board_defaults
[ 15%] ROMFS: copying rc.board_sensors
[ 15%] ROMFS: copying /src/PX4-Autopilot/boards/px4/fmu-v2/extras/px4_fmu-v2_bootloader.bin
[ 15%] ROMFS: copying extras
[ 15%] ROMFS: pruning
[ 15%] Generating ../gencromfs
[ 15%] ROMFS: generating image
Scanning dependencies of target romfs
[ 15%] ROMFS: copying /src/PX4-Autopilot/boards/px4/fmu-v2/extras/px4_io-v2_default.bin
[ 15%] ROMFS: copying rc.board_arch_defaults
[ 15%] ROMFS: copying rc.board_defaults
[ 15%] ROMFS: copying rc.board_sensors
[ 15%] ROMFS: copying /src/PX4-Autopilot/boards/px4/fmu-v2/extras/px4_fmu-v2_bootloader.bin
[ 15%] ROMFS: copying extras
[ 15%] ROMFS: pruning
[ 15%] ROMFS: generating image
[ 15%] Building C object ROMFS/CMakeFiles/romfs.dir/nsh_romfsimg.c.obj
[ 15%] Linking C static library libromfs.a
[ 15%] Built target romfs
[ 15%] git submodule platforms/nuttx/NuttX/nuttx
[ 15%] Built target git_nuttx
[ 15%] Generating uORB topic sources
Scanning dependencies of target uorb_msgs
[ 15%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/uORBTopics.cpp.obj
[ 15%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/action_request.cpp.obj
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[ 16%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/actuator_motors.cpp.obj
[ 16%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/actuator_outputs.cpp.obj
[ 16%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/actuator_servos.cpp.obj
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[ 16%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/actuator_test.cpp.obj
[ 16%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/adc_report.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/airspeed.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/airspeed_validated.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/airspeed_wind.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/autotune_attitude_control_status.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/battery_status.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/button_event.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/camera_capture.cpp.obj
[ 17%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/camera_status.cpp.obj
[ 18%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/camera_trigger.cpp.obj
[ 18%] Building CXX object msg/CMakeFiles/uorb_msgs.dir/topics_sources/cellular_status.cpp.obj
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[ 83%] Building CXX object src/modules/logger/CMakeFiles/modules__logger.dir/log_writer_mavlink.cpp.obj
[ 83%] Building CXX object src/modules/logger/CMakeFiles/modules__logger.dir/util.cpp.obj
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[ 83%] Building CXX object src/modules/manual_control/CMakeFiles/module__manual_control.dir/ManualControl.cpp.obj
[ 83%] Building CXX object src/modules/manual_control/CMakeFiles/module__manual_control.dir/ManualControlSelector.cpp.obj
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[ 83%] git submodule src/modules/mavlink/mavlink
[ 83%] Built target git_mavlink_v2
[ 83%] Generating Mavlink standard: src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml
WARNING: Failed to import lxml module etree. Are lxml, libxml2 and libxslt installed? XML validation will not be performed
Validation skipped for /src/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml.
Parsing /src/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/standard.xml
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Parsing /src/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/common.xml
Validation skipped for /src/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml.
Parsing /src/PX4-Autopilot/src/modules/mavlink/mavlink/message_definitions/v1.0/minimal.xml
Found 221 MAVLink message types in 3 XML files
Generating C implementation in directory /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/mavlink/standard
Generating C implementation in directory /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/mavlink/common
Generating C implementation in directory /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/mavlink/minimal
Copying fixed headers for protocol 2.0 to /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/mavlink
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[ 83%] Building C object src/modules/mavlink/CMakeFiles/modules__mavlink_original.dir/mavlink.c.obj
[ 83%] Building CXX object src/modules/mavlink/CMakeFiles/modules__mavlink_original.dir/mavlink_command_sender.cpp.obj
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[ 86%] Building CXX object src/modules/mc_att_control/AttitudeControl/CMakeFiles/AttitudeControl.dir/AttitudeControl.cpp.obj
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[ 88%] Building CXX object src/modules/mc_hover_thrust_estimator/CMakeFiles/zero_order_hover_thrust_ekf.dir/zero_order_hover_thrust_ekf.cpp.obj
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[ 89%] Building CXX object src/modules/mc_pos_control/Takeoff/CMakeFiles/Takeoff.dir/Takeoff.cpp.obj
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[ 89%] Building CXX object src/modules/mc_rate_control/CMakeFiles/modules__mc_rate_control.dir/MulticopterRateControl.cpp.obj
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[ 91%] Building CXX object src/modules/navigator/CMakeFiles/modules__navigator.dir/vtol_takeoff.cpp.obj
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[ 91%] Building CXX object src/modules/sensors/data_validator/CMakeFiles/data_validator.dir/DataValidator.cpp.obj
[ 91%] Building CXX object src/modules/sensors/data_validator/CMakeFiles/data_validator.dir/DataValidatorGroup.cpp.obj
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[ 91%] Building CXX object src/modules/sensors/vehicle_acceleration/CMakeFiles/vehicle_acceleration.dir/VehicleAcceleration.cpp.obj
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[ 91%] Building CXX object src/modules/sensors/vehicle_imu/CMakeFiles/vehicle_imu.dir/VehicleIMU.cpp.obj
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[ 93%] Building CXX object src/modules/sensors/vehicle_air_data/CMakeFiles/vehicle_air_data.dir/VehicleAirData.cpp.obj
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[ 93%] Building CXX object src/modules/sensors/vehicle_angular_velocity/CMakeFiles/vehicle_angular_velocity.dir/VehicleAngularVelocity.cpp.obj
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[ 93%] Building CXX object src/modules/sensors/vehicle_optical_flow/CMakeFiles/vehicle_optical_flow.dir/VehicleOpticalFlow.cpp.obj
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[ 95%] Generating apps/libapps.a
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[100%] Building C object platforms/nuttx/CMakeFiles/px4.dir/__/common/empty.c.obj
[100%] Linking CXX executable ../../px4_fmu-v2_multicopter.elf
Memory region Used Size Region Size %age Used
flash: 1015869 B 1008 KB 98.42%
sram: 22744 B 192 KB 11.57%
ccsram: 0 GB 64 KB 0.00%
[100%] Built target px4
[100%] Creating airframes.xml
[100%] Built target airframes_xml
[100%] Generating ../../px4_fmu-v2_multicopter.bin
[100%] Creating /src/PX4-Autopilot/build/px4_fmu-v2_multicopter/px4_fmu-v2_multicopter.px4
[100%] Built target px4_package
